conscience_core::knowledge::CscKnowledgeItem Class Reference

#include <CscKnowledgeItem.h>

Inheritance diagram for conscience_core::knowledge::CscKnowledgeItem:

Classes
struct	LimitsPivot
struct	LimitsPropeller
struct	LimitsTranslation
struct	LimitsWheel
struct	TargetMemberPonderation
struct	TargetMemberValues

Public Member Functions
	CscKnowledgeItem (int knoItemId, string knoItemName, CscArtificialIntelligenceTypes aiTypes=CscArtificialIntelligenceType::NONE, bool outputTypes[]=NULL)
void	applyWheels (CscSequence *result, vector< string > *names)
void	applyWheels (CscState *result, vector< string > *names)
void	applyJoints (CscState *result, vector< string > *names)
void	applyJoints (CscSequence *result, vector< string > *names)
virtual float	evaluateSequence (CscSequence *sequence, const CscWorldEntity *entity, CscState *initialStateInit)
virtual float	evaluateState (CscState *state, const CscWorldEntity *entity, CscState *initialState)
const map< string, float >	getOutputsCanMoveValues () const
vector< const LimitsPivot * >	getPivotsCanMoveValues () const
vector< const LimitsPropeller * >	getPropellersCanMoveValues () const
vector< const LimitsWheel * >	getWheelsCanMoveValues () const
vector< const LimitsTranslation * >	getTranslationsCanMoveValues () const
void	setPivotsCanMoveValues (const LimitsPivot *limitsPivot)
void	setPropellersCanMoveValues (const LimitsPropeller *limitsPropeller)
void	setWheelsCanMoveValues (const LimitsWheel *limitsWheel)
void	setTranslationsCanMoveValues (const LimitsTranslation *limitsTranslation)
virtual bool	isStatesSupportOf (CscState *state1, CscState *state2)
virtual bool	isObjectiveSupportOf (CscKnowledgeItem *knowledgeItem)
virtual int	getActionDeltaAutorized (float initStateValue)
virtual int	getSequenceCountAutorized (float initStateValue)
virtual float	getExtrapolationResult (CscSequence *sequenceIn)
virtual void	sequencePostTraitment (CscSequence *sequanceIn)
virtual	~CscKnowledgeItem ()
int	getDistance (int angle1, int angle2)
string	toString ()
virtual CscState *	generateRandomStateFromState (const CscEntityModel *robotModel, CscState *currentState, bool symmetry, bool sameProgressionRightLeft=false)
void	setInitStateObjectiveValue (float value)
float	getInitStateObjectiveValue () const
virtual bool	shouldAlwaysPlayInRealTime () const
virtual map< int, CscPivotMovementType >	createPivotMovementTypeByPivotId (const CscEntityModel *robotModel)
	Creates a map that associates each pivot ID with a constant movement type. More...
virtual map< int, CscPivotMovementType >	getPivotMovementTypeByPivotId (const CscEntityModel *robotModel)
	Returns a map that associates each pivot ID with a movement type. More...

Static Public Member Functions
static unsigned long long	nextId ()

Public Attributes
int	knowledgeItemId
string	knowledgeItemName
CscKnowledgeItemType	knowledgeType
int	maxSequenceSize = 100
float	maxJointDelta = 100.0
float	maxWheelsDelta = 100.0f
float	maxPropellersDelta = 100.0f
float	maxTranslationsDelta = 100.0f
map< int, float >	maxPivotDeltaByPivotId
bool	symetricMovments = true
const map< string, float > *	outputsCanMoveValues = new map<string, float>
const vector< const TargetMemberValues * > *	inputsTargetValues = new vector<const TargetMemberValues *>()
const vector< const TargetMemberPonderation * > *	inputsTargetPercents = new vector<const TargetMemberPonderation *>()
float	sequencePercentMax = 1.0
float	sequencePercentAvg = 0.0
float	sequencePercentCountStates = 0.0
float	sequencePercentExtrapolation = 0.0
float	sequencePercentAccEnd = 0.0
bool	optionCutLastestIfTheSameAndWorst = false
bool	optionCutBeginingIfTheSame = false
bool	optionDeltaPerStateMaxDegressive = false
bool	strictPonderations = false
float	solvedAt = 1.0
float	processAt = 1.0
float	isSupportActionDiff = 5.0
float	isSupportHeightDiff = 10
float	isSupportAccDiff = 0.3
float	isSupportGyroDiff = 10.0
bool	deploymentWhenAnotherIsSolved = false
bool	deploymentInitialGlobal = false
bool	selfDeploymentAnticipation = false
bool	antiKinematic = false
bool	outputTypes [4]
const CscArtificialIntelligenceTypes	aiTypes

Protected Member Functions
void	cutBeginingIfTheSame (CscSequence *sequenceIn, float maxIn)
void	cutBeginingIfSupport (CscSequence *sequenceIn)
void	cutLastestIfTheSameAndWorst (CscSequence *sequenceIn, float maxIn)
void	cutInternalSubSequencesIfCommonState (CscSequence *sequenceIn)
bool	usePivots () const
bool	usePropellers () const
bool	useWheels () const
bool	useTranslations () const
virtual void	addExtrapolationStates (CscSequence *sequenceIn, const CscWorldEntity *entity)

Protected Attributes
map< int, CscPivotMovementType >	pivotMovementTypeByPivotId

Constructor & Destructor Documentation

CscKnowledgeItem()

conscience_core::knowledge::CscKnowledgeItem::CscKnowledgeItem	(	int	knoItemId,
		string	knoItemName,
		CscArtificialIntelligenceTypes	aiTypes = CscArtificialIntelligenceType::NONE,
		bool	outputTypes[] = NULL
	)

~CscKnowledgeItem()

conscience_core::knowledge::CscKnowledgeItem::~CscKnowledgeItem ( )

virtual

Member Function Documentation

addExtrapolationStates()

void conscience_core::knowledge::CscKnowledgeItem::addExtrapolationStates ( CscSequence *  sequenceIn, const CscWorldEntity *  entity  )

protectedvirtual

Reimplemented in conscience_core::knowledge::CscKnowledgeItemMultiPodWalk.

applyJoints() [1/2]

void conscience_core::knowledge::CscKnowledgeItem::applyJoints	(	CscSequence *	result,
		vector< string > *	names
	)

applyJoints() [2/2]

void conscience_core::knowledge::CscKnowledgeItem::applyJoints	(	CscState *	result,
		vector< string > *	names
	)

applyWheels() [1/2]

void conscience_core::knowledge::CscKnowledgeItem::applyWheels	(	CscSequence *	result,
		vector< string > *	names
	)

applyWheels() [2/2]

void conscience_core::knowledge::CscKnowledgeItem::applyWheels	(	CscState *	result,
		vector< string > *	names
	)

createPivotMovementTypeByPivotId()

map< int, CscPivotMovementType > conscience_core::knowledge::CscKnowledgeItem::createPivotMovementTypeByPivotId ( const CscEntityModel *  robotModel )

virtual

Creates a map that associates each pivot ID with a constant movement type.

This function iterates through all the pivots in the provided robot model, and creates a map where each pivot ID is associated with a constant movement type.

Parameters

robotModel

Pointer to the robot model from which pivot IDs are obtained.

Returns

A map where the keys are pivot IDs and the values are constant movement types.

cutBeginingIfSupport()

void conscience_core::knowledge::CscKnowledgeItem::cutBeginingIfSupport ( CscSequence *  sequenceIn )

protected

cutBeginingIfTheSame()

void conscience_core::knowledge::CscKnowledgeItem::cutBeginingIfTheSame ( CscSequence *  sequenceIn, float  maxIn  )

protected

cutInternalSubSequencesIfCommonState()

void conscience_core::knowledge::CscKnowledgeItem::cutInternalSubSequencesIfCommonState ( CscSequence *  sequenceIn )

protected

cutLastestIfTheSameAndWorst()

void conscience_core::knowledge::CscKnowledgeItem::cutLastestIfTheSameAndWorst ( CscSequence *  sequenceIn, float  maxIn  )

protected

evaluateSequence()

float conscience_core::knowledge::CscKnowledgeItem::evaluateSequence ( CscSequence *  sequence, const CscWorldEntity *  entity, CscState *  initialStateInit  )

virtual

Reimplemented in conscience_core::knowledge::CscKnowledgeItemMultiPodWalk.

evaluateState()

float conscience_core::knowledge::CscKnowledgeItem::evaluateState ( CscState *  state, const CscWorldEntity *  entity, CscState *  initialState  )

virtual

Reimplemented in conscience_core::knowledge::CscKnowledgeItemMultiPodWalk, conscience_core::knowledge::CscKnowledgeItemTargetMemberToStateFromMember, conscience_core::knowledge::CscKnowledgeItemTarget, conscience_core::knowledge::CscKnowledgeItemTargetMemberToState, conscience_core::knowledge::CscKnowledgeItemTargetMemberFocusState, and conscience_core::knowledge::CscKnowledgeItemState.

generateRandomStateFromState()

CscState * conscience_core::knowledge::CscKnowledgeItem::generateRandomStateFromState ( const CscEntityModel *  robotModel, CscState *  currentState, bool  symmetry, bool  sameProgressionRightLeft = false  )

virtual

getActionDeltaAutorized()

int conscience_core::knowledge::CscKnowledgeItem::getActionDeltaAutorized ( float  initStateValue )

virtual

getDistance()

int conscience_core::knowledge::CscKnowledgeItem::getDistance	(	int	angle1,
		int	angle2
	)

getExtrapolationResult()

float conscience_core::knowledge::CscKnowledgeItem::getExtrapolationResult ( CscSequence *  sequenceIn )

virtual

Reimplemented in conscience_core::knowledge::CscKnowledgeItemMultiPodWalk, conscience_core::knowledge::CscKnowledgeItemTargetMemberToState, and conscience_core::knowledge::CscKnowledgeItemTargetMemberFocusState.

getInitStateObjectiveValue()

float conscience_core::knowledge::CscKnowledgeItem::getInitStateObjectiveValue

(

)

const

getOutputsCanMoveValues()

const map< string, float > conscience_core::knowledge::CscKnowledgeItem::getOutputsCanMoveValues

(

)

const

getPivotMovementTypeByPivotId()

map< int, CscPivotMovementType > conscience_core::knowledge::CscKnowledgeItem::getPivotMovementTypeByPivotId ( const CscEntityModel *  robotModel )

virtual

Returns a map that associates each pivot ID with a movement type.

This function checks if the map pivotMovementTypeByPivotId is empty. If it is, the function calls createPivotMovementTypeByPivotId() to create the map and then returns it. If the map is not empty, it returns the map directly.

Parameters

robotModel

Pointer to the robot model from which pivot IDs are obtained.

Returns

A map where the keys are pivot IDs and the values are movement types.

getPivotsCanMoveValues()

vector< const CscKnowledgeItem::LimitsPivot * > conscience_core::knowledge::CscKnowledgeItem::getPivotsCanMoveValues

(

)

const

getPropellersCanMoveValues()

vector< const CscKnowledgeItem::LimitsPropeller * > conscience_core::knowledge::CscKnowledgeItem::getPropellersCanMoveValues

(

)

const

getSequenceCountAutorized()

int conscience_core::knowledge::CscKnowledgeItem::getSequenceCountAutorized ( float  initStateValue )

virtual

Reimplemented in conscience_core::knowledge::CscKnowledgeItemMultiPodWalk, conscience_core::knowledge::CscKnowledgeItemTargetMemberToState, and conscience_core::knowledge::CscKnowledgeItemTargetMemberFocusState.

getTranslationsCanMoveValues()

vector< const CscKnowledgeItem::LimitsTranslation * > conscience_core::knowledge::CscKnowledgeItem::getTranslationsCanMoveValues

(

)

const

getWheelsCanMoveValues()

vector< const CscKnowledgeItem::LimitsWheel * > conscience_core::knowledge::CscKnowledgeItem::getWheelsCanMoveValues

(

)

const

isObjectiveSupportOf()

bool conscience_core::knowledge::CscKnowledgeItem::isObjectiveSupportOf ( CscKnowledgeItem *  knowledgeItem )

virtual

Reimplemented in conscience_core::knowledge::CscKnowledgeItemMultiPodWalk, conscience_core::knowledge::CscKnowledgeItemTargetMemberToStateFromMember, conscience_core::knowledge::CscKnowledgeItemTargetArmToPosition, conscience_core::knowledge::CscKnowledgeItemTargetMemberToState, and conscience_core::knowledge::CscKnowledgeItemTargetMemberFocusState.

isStatesSupportOf()

bool conscience_core::knowledge::CscKnowledgeItem::isStatesSupportOf ( CscState *  state1, CscState *  state2  )

virtual

Reimplemented in conscience_core::knowledge::CscKnowledgeItemMultiPodWalk, conscience_core::knowledge::CscKnowledgeItemTargetMemberToStateFromMember, conscience_core::knowledge::CscKnowledgeItemTargetArmToPosition, conscience_core::knowledge::CscKnowledgeItemTargetMemberToState, and conscience_core::knowledge::CscKnowledgeItemTargetMemberFocusState.

nextId()

static unsigned long long conscience_core::knowledge::CscKnowledgeItem::nextId ( )

inlinestatic

sequencePostTraitment()

void conscience_core::knowledge::CscKnowledgeItem::sequencePostTraitment ( CscSequence *  sequanceIn )

virtual

Reimplemented in conscience_core::knowledge::CscKnowledgeItemMultiPodWalk, conscience_core::knowledge::CscKnowledgeItemTargetMemberToState, and conscience_core::knowledge::CscKnowledgeItemTargetMemberFocusState.

setInitStateObjectiveValue()

void conscience_core::knowledge::CscKnowledgeItem::setInitStateObjectiveValue

(

float

value

)

setPivotsCanMoveValues()

void conscience_core::knowledge::CscKnowledgeItem::setPivotsCanMoveValues

(

const LimitsPivot *

limitsPivot

)

setPropellersCanMoveValues()

void conscience_core::knowledge::CscKnowledgeItem::setPropellersCanMoveValues

(

const LimitsPropeller *

limitsPropeller

)

setTranslationsCanMoveValues()

void conscience_core::knowledge::CscKnowledgeItem::setTranslationsCanMoveValues

(

const LimitsTranslation *

limitsTranslation

)

setWheelsCanMoveValues()

void conscience_core::knowledge::CscKnowledgeItem::setWheelsCanMoveValues

(

const LimitsWheel *

limitsWheel

)

shouldAlwaysPlayInRealTime()

bool conscience_core::knowledge::CscKnowledgeItem::shouldAlwaysPlayInRealTime ( ) const

virtual

toString()

string conscience_core::knowledge::CscKnowledgeItem::toString

(

)

usePivots()

bool conscience_core::knowledge::CscKnowledgeItem::usePivots ( ) const

protected

usePropellers()

bool conscience_core::knowledge::CscKnowledgeItem::usePropellers ( ) const

protected

useTranslations()

bool conscience_core::knowledge::CscKnowledgeItem::useTranslations ( ) const

protected

useWheels()

bool conscience_core::knowledge::CscKnowledgeItem::useWheels ( ) const

protected

Member Data Documentation

aiTypes

const CscArtificialIntelligenceTypes conscience_core::knowledge::CscKnowledgeItem::aiTypes

antiKinematic

bool conscience_core::knowledge::CscKnowledgeItem::antiKinematic = false

deploymentInitialGlobal

bool conscience_core::knowledge::CscKnowledgeItem::deploymentInitialGlobal = false

deploymentWhenAnotherIsSolved

bool conscience_core::knowledge::CscKnowledgeItem::deploymentWhenAnotherIsSolved = false

inputsTargetPercents

const vector<const TargetMemberPonderation *>* conscience_core::knowledge::CscKnowledgeItem::inputsTargetPercents = new vector<const TargetMemberPonderation *>()

inputsTargetValues

const vector<const TargetMemberValues *>* conscience_core::knowledge::CscKnowledgeItem::inputsTargetValues = new vector<const TargetMemberValues *>()

isSupportAccDiff

float conscience_core::knowledge::CscKnowledgeItem::isSupportAccDiff = 0.3

isSupportActionDiff

float conscience_core::knowledge::CscKnowledgeItem::isSupportActionDiff = 5.0

isSupportGyroDiff

float conscience_core::knowledge::CscKnowledgeItem::isSupportGyroDiff = 10.0

isSupportHeightDiff

float conscience_core::knowledge::CscKnowledgeItem::isSupportHeightDiff = 10

knowledgeItemId

int conscience_core::knowledge::CscKnowledgeItem::knowledgeItemId

knowledgeItemName

string conscience_core::knowledge::CscKnowledgeItem::knowledgeItemName

knowledgeType

CscKnowledgeItemType conscience_core::knowledge::CscKnowledgeItem::knowledgeType

maxJointDelta

float conscience_core::knowledge::CscKnowledgeItem::maxJointDelta = 100.0

maxPivotDeltaByPivotId

map<int, float> conscience_core::knowledge::CscKnowledgeItem::maxPivotDeltaByPivotId

maxPropellersDelta

float conscience_core::knowledge::CscKnowledgeItem::maxPropellersDelta = 100.0f

maxSequenceSize

int conscience_core::knowledge::CscKnowledgeItem::maxSequenceSize = 100

maxTranslationsDelta

float conscience_core::knowledge::CscKnowledgeItem::maxTranslationsDelta = 100.0f

maxWheelsDelta

float conscience_core::knowledge::CscKnowledgeItem::maxWheelsDelta = 100.0f

optionCutBeginingIfTheSame

bool conscience_core::knowledge::CscKnowledgeItem::optionCutBeginingIfTheSame = false

optionCutLastestIfTheSameAndWorst

bool conscience_core::knowledge::CscKnowledgeItem::optionCutLastestIfTheSameAndWorst = false

optionDeltaPerStateMaxDegressive

bool conscience_core::knowledge::CscKnowledgeItem::optionDeltaPerStateMaxDegressive = false

outputsCanMoveValues

const map<string, float>* conscience_core::knowledge::CscKnowledgeItem::outputsCanMoveValues = new map<string, float>

outputTypes

bool conscience_core::knowledge::CscKnowledgeItem::outputTypes[4]

pivotMovementTypeByPivotId

map<int, CscPivotMovementType> conscience_core::knowledge::CscKnowledgeItem::pivotMovementTypeByPivotId

protected

processAt

float conscience_core::knowledge::CscKnowledgeItem::processAt = 1.0

selfDeploymentAnticipation

bool conscience_core::knowledge::CscKnowledgeItem::selfDeploymentAnticipation = false

sequencePercentAccEnd

float conscience_core::knowledge::CscKnowledgeItem::sequencePercentAccEnd = 0.0

sequencePercentAvg

float conscience_core::knowledge::CscKnowledgeItem::sequencePercentAvg = 0.0

sequencePercentCountStates

float conscience_core::knowledge::CscKnowledgeItem::sequencePercentCountStates = 0.0

sequencePercentExtrapolation

float conscience_core::knowledge::CscKnowledgeItem::sequencePercentExtrapolation = 0.0

sequencePercentMax

float conscience_core::knowledge::CscKnowledgeItem::sequencePercentMax = 1.0

solvedAt

float conscience_core::knowledge::CscKnowledgeItem::solvedAt = 1.0

strictPonderations

bool conscience_core::knowledge::CscKnowledgeItem::strictPonderations = false

symetricMovments

bool conscience_core::knowledge::CscKnowledgeItem::symetricMovments = true

---

The documentation for this class was generated from the following files:

• Knowledge/CscKnowledgeItem.h
• Knowledge/CscKnowledgeItem.cpp